JPH1023467A - Stereoscopic image device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a stereoscopic picture without reducing the stereoscopic sense for an operator by selecting suitable convergence angle and camera interval. SOLUTION: The stereoscopic image device provided with an arm having an arm position detector having a mechanism for controlling the convergence angle of visual directions of two TV camera 35, 36 and arranged on a position of which positional relation with the cameras 35, 36 is clear is provided with a means for calculating the end effector contact point position of the arm 4, a means for detecting the position of an object 10 by matching the end effector contact point of the arm 3 with the object 10 and a means for calculating an object distance from the object 10 up to the camera 35, 36. The device is also provided with a convergence angle determining means 25 for matching the convergence angle by a means for setting up the convergence angle suitable for an object distance, determining relation between the object distance and the convergence angle, executing measuring work for relation between the object diastase and the convergence angle twice or more, expressing the relation between the object distance and the convergence angle as a function, and determining the convergence angle to control a convergence angle motor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereoscopic video apparatus using a TV camera.

[0002]

2. Description of the Related Art Conventionally, in a stereoscopic video apparatus using two TV cameras, an operator manually drives the convergence angle to control the convergence angle in the line of sight of the two TV cameras. We were trying to match the position that was well represented.

If it is difficult for the operator to adjust the convergence angle one by one, the convergence angle is adjusted in accordance with the focal length from the TV camera to the object, so that the convergence angle allows the best three-dimensional effect. . In this case, the focal length uses the distance measurement function of the lens or the distance data obtained by calculating or detecting the distance to the object by the distance measurement sensor.

As a distance measuring function of a TV camera, there is an autofocus function of analyzing an image captured by a lens in the camera and focusing the image based on contrast.

[0005] When this auto focus function is used,
Although the image on the screen is in focus, the focal length may differ from the actual one depending on the angle of view and the zoom ratio of the lens. In short, even if the screen is in focus, it may not be used as distance measurement data.

When a distance measuring sensor is used, the focal length cannot be specified when there is no object in the distance measuring area or when a contrast that cannot be measured is generated. There is a problem that the distance of the object cannot be specified.

Further, when a TV camera is mounted on a camera platform or the like, obtaining image information, determining the distance to the object, and determining the coordinates of the object are different. That is, a means for specifying the target object from the video information is required, and even if it can be specified, the distance may not be determined depending on the contrast of the video.

[0008]

As described above, in the conventional stereoscopic video apparatus, when the focal length data used for controlling the convergence angle is different from the actual focal length, the object distance cannot be determined, so that the appropriate convergence angle is controlled. If the distance cannot be set, or if the focal length data used for controlling the camera interval is different from the actual focal length, the object distance cannot be determined, so that there is a problem that the camera interval cannot be controlled to an appropriate value.

Furthermore, if the two TV cameras do not match the proper angle of convergence, not only the three-dimensional effect of the three-dimensional image is not sufficiently obtained, but also the operator may have an increased feeling of fatigue. On the other hand, when the attitude and position of the TV camera cannot be changed, there is a problem that the object distance changes after the change.

Further, when mounted on a vehicle that can travel, the position of the object cannot be specified, so the position of the object is required, and there is an object or environment that cannot be measured by the distance measurement function of the camera or lens. However, there is a problem that a proper convergence angle and camera interval cannot be obtained.

The present invention has been made in view of the above circumstances, and effectively utilizes a lens and an autofocus function of a TV camera to select an appropriate convergence angle and an appropriate camera interval.
It is an object of the present invention to provide a stereoscopic image device capable of obtaining a stereoscopic image that does not impair the stereoscopic effect for an operator.

[0012]

According to the present invention, in order to achieve the above object, a three-dimensional image apparatus is constituted by the following means. The invention corresponding to claim 1 is based on two T
An arm having a V camera and a mechanism for controlling the angle of convergence in the line of sight of these two TV cameras, and having a position detector installed at a position where the two TV cameras have a clear positional relationship with each other. In the three-dimensional image apparatus, a position calculating unit that calculates a position of the end effector contact point of the arm based on a signal from the position detector, and an end effector contact point of the arm is calculated based on the position signal obtained by the position calculating unit. Object position detecting means for detecting the position of the object when fitted to the object; calculating means for calculating the object distance between the object detected by the object position detecting means and two TV cameras; The measurement of the relation between the object distance and the convergence angle is performed twice or more by matching the convergence angle suitable for the object distance obtained by the calculation means, and the object distance and the convergence angle are measured. It represents the relationship as a function comprises a congestion angle determining means for determining a convergence angle from this function, and means for controlling the convergence angle motor of the TV camera based on the convergence angle determined in this convergence angle determining means.

Therefore, in the three-dimensional image apparatus according to the present invention, the arm is held when the object is touched at the end effector contact point of the arm, and the position of the object is calculated by the instruction signal from the setting switch. Along with
By calculating the object distance and measuring at least two points of the relationship between the object distance and the convergence angle according to the appropriate convergence angle by the operator, the operator can adjust the convergence once to the object and adjust to the position. Control to the corner. This makes it possible to effectively use the autofocus function of the lens or the TV camera, so that a clear image can be provided, and by appropriately selecting the convergence angle, a stereoscopic image that is easy for the operator to see can be obtained. Become.

[0014] The invention corresponding to claim 2 has two TV cameras and a mechanism for controlling the convergence angle in the line of sight of these two TV cameras, and the positional relationship with the two TV cameras is clear. In a stereoscopic video apparatus provided with an arm having a position detector installed at an appropriate position, a position calculating means for calculating a position of an end effector contact point of the arm based on a signal from the position detector, and the position calculating means Object position detecting means for detecting the position of the object when the end effector contact point of the arm is matched with the object from the obtained position signal; and the object detected by the object position detecting means. Calculating means for calculating an object distance to one TV camera, and a camera distance suitable for the object distance calculated by the calculating means, and calculating the relationship between the object distance and the camera distance. Measurement is performed twice or more, and the relationship between the object distance and the camera interval is expressed as a function, and the camera interval is determined by the function, and the camera interval determined by the camera interval is determined. Means for controlling the TV camera drive motor based on the information.

Therefore, in the three-dimensional image apparatus according to the present invention, the arm is held when the object is touched at the end effector contact point of the arm, and the position of the object is calculated by the instruction signal from the setting switch. Along with
By calculating the object distance and measuring at least two points of the relationship between the object distance and the camera distance in accordance with the appropriate camera distance by the operator, the operator once adjusts to the object,
Control the camera interval to match the position. This makes it possible to effectively use the autofocus function of the lens or the TV camera, so that a clear image can be provided, and by appropriately selecting the camera interval, a stereoscopic image that is easy for the operator to see can be obtained. Become.

According to a third aspect of the present invention, there are provided two TV cameras, a mechanism for controlling a convergence angle in a line-of-sight direction of the two TV cameras, a mechanism for controlling an interval between the two TV cameras, In a stereoscopic video apparatus including an arm having a position detector set at a position where a positional relationship between two TV cameras is clear, a position of an end effector contact point of the arm is calculated based on a signal from the position detector. Position calculating means, object position detecting means for detecting the position of the object when the end effector contact point of the arm is matched with the object from the position signal obtained by the position calculating means, and the object position Calculating means for calculating the distance between the object detected by the detecting means and the two TV cameras, and a convergence angle suitable for the object distance determined by the calculating means Along with the camera distance suitable for the object distance, measurement of the relation between the object distance and the convergence angle and the measurement of the relation between the object distance and the camera distance are performed twice or more, and the object distance and the convergence angle are measured. Expressing the relationship as a function and expressing the relationship between object distance and camera spacing as a function,
A convergence angle and a camera interval determining means for determining a convergence angle and a camera interval from this function, and controlling the convergence angle motor of the TV camera based on the convergence angle and the camera interval determined by the convergence angle and the camera interval determining means. Means for controlling the TV camera drive motor.

Accordingly, in the stereoscopic image apparatus according to the present invention, the arm is held when the object is touched at the end effector contact point of the arm, and the position of the object is calculated by the instruction signal from the setting switch. Along with
The operator calculates the object distance and the operator measures at least two points of the relationship between the object distance and the convergence angle and the relationship between the object distance and the camera interval in accordance with the appropriate convergence angle and camera interval, respectively. Controls the convergence angle and the camera interval that match the position of the object once. This makes it possible to effectively use the autofocus function of the lens or the TV camera, so that a clear image can be provided, and a stereoscopic image that is easy for the operator to see can be obtained by appropriately selecting the convergence angle and the camera interval. Becomes possible.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the two TV cameras have a function of changing a posture and a position, and include a sensor for detecting the posture and the position. It is mounted on a camera platform and traverse mechanism, and has means for calculating the object distance even when the line of sight of the TV camera is changed by driving the camera platform and traverse after the distance to the object is determined. Then, the convergence angle for providing a stereoscopic image that is easy for the operator to see is controlled.

According to a fifth aspect of the present invention, in the second aspect of the present invention, the two TV cameras have a function of changing the attitude and the position, and include a sensor for detecting the attitude and the position. The head mounted on the camera head and the traverse mechanism. After the distance to the object is captured, the object distance when the viewing direction of the TV camera is changed by driving the camera head and the traverse is determined. At the same time, the camera interval for providing a stereoscopic image that is easy for the operator to see is controlled.

According to a sixth aspect of the present invention, in the invention according to the third aspect, the two TV cameras have a function of changing the attitude and the position, and include a sensor for detecting the attitude and the position. The head mounted on the camera head and the traverse mechanism. After the distance to the object is captured, the object distance when the viewing direction of the TV camera is changed by driving the camera head and the traverse is determined. At the same time, the convergence angle and the camera interval for providing a stereoscopic image which is easy for the operator to see are controlled.

Therefore, in the stereoscopic image apparatus according to the present invention, the posture and the position of the camera are changed, and even when the object to be viewed on the screen is shifted, the convergence angle, As for the camera interval, the object distance is calculated from the camera platform and the traverse position / posture information, and the convergence angle and the camera interval suitable for the object are always maintained, whereby a stereoscopic image that is easy for the operator to see can be obtained.

According to a seventh aspect of the present invention, in the invention according to any one of the first to sixth aspects, the vehicle is mounted on a vehicle whose positional relationship with an object is unspecified. Therefore, claim 7
In the three-dimensional image apparatus of the invention corresponding to the above, if the relationship between the object distance and the convergence angle, the camera interval is attached in advance, it is mounted on a movable vehicle, and when the distance to the object is indefinite, By measuring the object distance, a stereoscopic image that is easy for the operator to see can be obtained.

[0023]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram showing a first embodiment of a stereoscopic video apparatus according to the present invention. As shown in FIG. 1, a support 3 is vertically mounted on a base 1 via a support 2, and two television cameras,
That is, the left TV camera 36 and the right TV camera 35 are attached, and the arm 4 driven by a drive mechanism (not shown) is attached to the support 2. These two TV cameras 35 and 36 and the arm 4 are of a basic configuration. For convenience of explanation, the three-dimensional TV cameras are two TV cameras 3.
5 and 36, and the TV camera is composed of a camera and a lens.

The left TV camera 36 is composed of a camera 5b and a lens 6b and is fixed to the support 3. The right TV camera 35 is composed of a camera 5a and a lens 6a. It is fixed to the support base 3 via the angular drive head 8.

The arm 4 has a multi-joint structure having a hand 9 at the distal end, and has a function as a multi-degree of freedom. In this case, since the dimensions of the support 3 are specified in advance, the positional relationship with the TV cameras 35 and 36 is determined.

Further, the camera signals 22 of the TV cameras 35 and 36 are input to the stereoscopic video controller 16, which generates a stereoscopic video signal 23 and inputs the stereoscopic video signal 23 to the stereoscopic monitor 17. Therefore, the operator 18 can observe the image on the stereoscopic monitor 17 through the stereoscopic glasses 19.

The three-dimensional monitor 17 is not limited to the one that observes a three-dimensional image with the three-dimensional glasses 19. On the other hand, the convergence angle driving head 8 is provided with a convergence angle detection sensor 29 for detecting the convergence angle 11, and a convergence angle detection signal, which will be described later, detected by the convergence angle detection sensor 29 is information necessary for control. Controller 1 as 20
5 is input.

The controller 15 has a setting switch 27
, A distance calculation unit 24 for calculating a distance to the object, a convergence angle determination unit 25 for determining a convergence angle based on the distance to the object calculated by the distance calculation unit 24, and the convergence angle A motor drive unit 26 that drives the motor of the convergence angle drive pan head 8 according to the convergence angle determined by the determination unit 25.

Next, the operation of the stereoscopic video apparatus configured as described above will be described. Now, when the camera signal 22 captured by the TV cameras 35 and 36 is input to the stereoscopic video control device 16, the stereoscopic video control device 16 generates a stereoscopic video signal and the video is displayed on the stereoscopic monitor 17.

This video system is, as shown in FIG.
The camera 35 includes a right camera 5a and a right lens 6a, and the right camera signal 22a outputs a right CCU (Camera Con
trolUnit) 37a and this right CCU 37a
Is converted into a right video signal 39a by the, and is input to the scan converter 38. Similarly, the left TV camera 36 is composed of a left camera 5b and a left lens 6b, and when the left camera signal 22b is input to the left CCU 37b, the left CC
The video signal is converted into a left video signal 39b by U37b and input to the scan converter 38. The scan converter 38 generates a stereoscopic video signal 40 and outputs the stereoscopic video signal 40 to the stereoscopic monitor 17.
, A stereoscopic video is displayed on the stereoscopic monitor 17.

On the other hand, in FIG. 1, a convergence angle detection signal detected by the convergence angle detection sensor 29 is input to the controller 15 as information 20 necessary for control.
Similarly, a position detection signal of the arm 4 detected by a position detector (not shown) is also input as information 20 necessary for control.

Next, when the arm 4 is driven and the hand 9 contacts the focal point 12 of the object 10, the arm 4 is held. At this point, when the convergence angle drive pan head 8 is driven by a convergence angle drive pan head drive support (not shown), the convergence angle 11 that is easy for the operator to see is set, and the completion of the setting is input to the controller 15 by the setting switch 27. , Object distance 1
The algorithm to calculate 3 runs.

First, the object distance 13 is calculated by the distance calculation unit 24 by calculating the distance to the object 10, then the convergence angle determination unit 25 determines the convergence angle, and the convergence angle motor drive unit 26 determines the convergence angle. Instructs driving of the control motor. The controller 15 outputs a convergence angle control motor drive signal 21 to drive the convergence angle drive pan head 8 to a position where an appropriate convergence angle 11 can be obtained.

The object distance 13 is the lens position 1 in the figure.
It is expressed as the distance from 3L to the object position 13M. The focal length 14a of the right lens 5a and the focal length 14b of the left lens 5b are approximated to the object distance 13.

In this case, the object distance 13 may be from any position as long as a reference is determined. Therefore, the lens position 13L
However, the present invention is not limited to this. FIG. 3 shows a block diagram of a control system of the stereoscopic video apparatus.

In FIG. 3, the arm position sensor 28 may or may not be provided on each axis of the arm.
When the arm position signal 55 is input to the distance calculator 24,
The distance to the object is calculated by the distance calculator 24, and when the distance is set by the setting switch 27, the appropriate convergence angle is calculated by the appropriate convergence angle calculator 25 based on the teaching data 54, and the convergence angle target calculator 30 is calculated. A convergence angle target value 34 is generated, the current convergence angle signal 32 is led from the convergence angle detection sensor 29 to a subtraction point 33, the convergence angle target value 34 is subtracted as a target value, and the output is used as the convergence angle control motor. The convergence angle motor 31 is driven as the drive signal 21.

Here, a method of calculating the object distance 13 will be described with reference to FIG. Positions of left and right TV cameras 35 and 36 from reference coordinates (Σφ) and one axis of arm (θ ₁ )
The description will be made assuming that the position is determined. Arm 4
Is operated to bring the end effector contact point 45 into contact with the focal point 12 of the object 10 to maintain the arm posture. After the arm posture is maintained, the position of the end effector contact point 45 is calculated from the arm position sensor. In this case, the object distance 1 between the lens point 44 and the end effector contact point 45 (focal point 9) as shown in FIG.
3 can be calculated.

That is, each axis of the arm 4 (one axis (θ ₁ ) 4
6, 2-axis (θ ₂ ) 47, _3- axis (θ ₃ ) 48, 4-axis (θ
₄ ) If the position sensors are provided on 49, _5- axis (θ ₅ ) 50, and _6- axis (θ ₆ ) 51), the position of the end effector contact point 45 (focal point 9) from the reference coordinate (Σφ) is 1 obtain the position of the shaft 2 axis as seen from _{(θ 1) (θ 2)} , the position of the next two axes (theta ₂₎ viewed from the three-axis (theta ₃₎ determined, it should be added sequentially.

Here, the object distance 13 and the convergence angle 11 will be described by one teaching flow with reference to FIG. In FIG. 5, the arm 4 is operated in step 301, and the end effector contact point 45 (shown in FIG. 4)
Is brought into contact with the object 10 (that is, the focal point 9) to hold the arm 4, and the convergence angle 11 is adjusted to the operator 18.

In step 302, the setting switch 27 is pressed to instruct the measurement. In step 303, the object position is calculated based on the signal of the arm position sensor 28 of the arm 4.
In step 304, the object distance 13 is calculated. At step 305, the convergence angle signal 32 is read.
At 6, the convergence angle signal 32 is stored in the memory.

This operation is performed at least once, and a relational expression between the object distance and the convergence angle is generated. The method of driving the arm is not limited to a specific method such as operating each axis individually, driving by joystick operation, or driving by a master blade method.

FIG. 6 shows the relationship between the convergence angle 11 and the object distance 10, and a proportional straight line 53 may be generated based on the data measured by the flow of FIG. In this case, the method of generating the proportional straight line 53 is not limited.
Further, the relationship between the convergence angle 11 and the object distance 13 is not limited to a proportional straight line.

Next, referring to FIG. 7, two TV cameras 35, 3
The relationship between 6 and the convergence angle 11 will be described. The intersection of the focal length 14a of the right TV camera 35a and the focal length 14e of the left TV camera 36 is the focal point 12a, and the object distance is 13a. Similarly, the intersection of the focal length 14b of the right TV camera 35b and the focal length 14d of the left TV camera 36 is the focal point 12b, and the intersection of the focal length 14c of the right TV camera 35c and the focal length 14f of the left TV camera 36 is the focal point 12c. , And the object distance is 13c.

In order for the focal length of the right TV camera to match the object 10 and the object distance 13 at each position, the convergence angle 11 of the right TV camera is changed to the convergence angle 11c when the object distance 13a is set. In addition, it is variable by rotation in the convergence angle operation direction 7. Therefore, in order to focus the object 10 on the most visible focus, the object distance 13 changes.

Next, FIG. 8 shows how the image is viewed when the convergence angle 11 is varied with respect to the object 10 when the object distance 13 is fixed, that is, when the object 10 is rotated in the convergence angle operation direction 7. This will be described below.

FIG. 8 (a1) shows a case where the object 10 is positioned at the intersection of the line of sight 57a of the left camera 36 and the line of sight 56a of the right camera 35a and focused. FIG.
In 2), the image 42 of the target object 10 on the monitor screen is projected in an overlapping manner. Generally, it is considered that the case where the image of the object 10 at the focused position is superimposed on both the left and right sides is most easily viewed as a stereoscopic image.

In FIG. 8 (b1), the intersection of the left camera line of sight 57b and the right camera line of sight 56b of the left TV camera 36 is located closer to the camera than the object 10. In this case, FIG.
As shown in 2), an image 42R of the object is displayed on the monitor 41b.
42L is projected.

When the monitor screen 41b is viewed from the left and right eyes 43L and 43R of the operator, the object 10 appears to be deeper than the screen. Conversely, in FIG.
An intersection of the left camera line of sight 57c of the left TV camera 36 and the right camera line of sight 56c is generated further away from the camera. In this case, as shown in FIG. 8 (C2), the images 42L and 42R of the target object are displayed on the monitor screen 41c. When the monitor screen 41c is viewed from the left and right eyes 43L and 43R of the operator, the object 10 appears to jump out of the screen.

Normally, when the stereoscopic TV camera captures a certain screen and focuses on the target object 10, the other imaged object becomes (b1)
The image is displayed on the screen as an image similar to (c1), so that a sense of perspective, that is, a three-dimensional effect can be obtained.

Next, a method of using the first embodiment of the stereoscopic video apparatus according to the present invention will be described with reference to the flowchart shown in FIG. In step 401, the arm 4 is operated to bring the end effector contact point 45 into contact with the object 10 and hold the arm 4. In step 402, the setting switch is pressed, and the operation of the operator is completed.

After executing the step 303 shown in FIG. 5, the controller 15 executes the step 304 to obtain the object distance 13, and determines the convergence angle 11 from the predetermined proportional straight line 53 in FIG. The convergence angle 11 is adjusted by driving the motor 31.

Although the case has been described above in which the proportional straight line 53 is defined in the controller 15, the present invention is not limited to this. That is, the quantity may be represented by a function formula, the quantity may be stored in a memory map in advance, or only the data at the time of measurement may be stored and linear interpolation may be performed.

FIG. 10 shows a second embodiment of the stereoscopic video apparatus according to the present invention.
1 is a block diagram showing an embodiment of the present invention, and the same parts as those in FIG. 1 are denoted by the same reference numerals and the description thereof is omitted, and only different parts will be described here.

In the second embodiment, instead of the convergence angle drive head 3 attached to the support base 3 of FIG. 1, a camera distance drive head 60 movable in the camera distance movement direction 59 as shown in FIG. The function of the controller 15 is as follows. A distance calculator 24 calculates the distance to the object in accordance with an instruction from the setting switch 27. Based on the distance to the object calculated by the distance calculator 24, It comprises a camera interval determining unit 61 for determining the interval and a motor driving unit 62 for driving the motor of the camera interval driving head 60 according to the camera interval determined by the camera interval determining unit 61.

Functionally, the camera interval 58 is controlled instead of the convergence angle 11 described with reference to FIG. 1, and the description is omitted here. Next, control of the camera interval in the second embodiment will be described with reference to FIG.

The interval between the right TV camera 35d and the left TV camera 36 is a camera interval 58a, and the camera interval when the position where the right TV camera is moved in the camera interval moving direction 59 by a mechanism (not shown) is the right TV camera 35e. 58b.

For the right TV camera 35d, the left and right TVs
The focal point 12d where the camera line of sight intersects, and the object distance 13
d. Similarly, the right and left T with respect to the right TV camera 35e
The focal point 12e where the V camera line of sight intersects, and the object distance 1
3e. The convergence angle 11 does not change regardless of the position of the right TV camera 35.

Therefore, by adjusting the camera interval 58 for the stereoscopic video, the stereoscopic interval can be varied. By adjusting the camera interval 58, the same effect as when the convergence angle 11 is adjusted can be obtained.

FIG. 12A is a configuration diagram showing only a support base 3 and a stereoscopic TV camera as a third embodiment of the stereoscopic video apparatus according to the present invention, and the same parts as those in FIG. The description thereof is omitted, and only different portions will be described here.

In the third embodiment, a camera distance driving head 60 movable in the camera distance moving direction 59 is provided on the support 3.
To the camera interval drive pan head 60
Convergence angle 11 with right TV camera 35 with respect to V camera 36
The convergence angle drive pan head 8 for changing the camera angle is attached, the camera interval drive pan head 60 is controlled, and the convergence angle drive pan head 8 is controlled.

In the stereoscopic image pickup apparatus configured as described above, when the stereoscopic TV camera 67 is designed,
It is characterized in that the positional relationship between the two TV cameras can be finely adjusted and expandable as compared with the first and second embodiments.

In FIG. 12B, when the adjustment is performed only at the camera interval 58, the right camera line of sight at the camera interval 58a is 14e, and the right camera line of sight at the camera interval 58b is 14f. The object 10f is the object 10f.
g.

However, at the position of the camera interval 58b, the right TV
If the camera can be moved in the convergence angle operation direction 7a, an object between the object 10f and the object 10g on a straight line can be captured.

As described above, in the third embodiment, finer control can be performed as compared with the case of adjusting only the convergence angle or the camera interval as in the first embodiment or the second embodiment, so that it is easier to see. 3D images can be provided. Further, when the camera interval 58 alone requires a long interval to capture an object, the camera interval 58 does not need to be long by adjusting the convergence angle 11.

Therefore, by controlling both the camera interval 58 and the convergence angle 11, a design margin is given to the dimensions of the camera and the lens. FIG. 13 shows an example of a configuration in which a stereoscopic TV camera 67 is mounted on a camera platform and traverse mechanism as a fourth embodiment of the stereoscopic video apparatus according to the present invention.
In FIG. 13A, the stereoscopic TV camera 67a has a pan 6
4, mounted on the tilt 65 and the traverse 66, and located at substantially the center of the traverse 66. In FIG. 13B, the state in which the stereoscopic TV cameras are moved to both ends of the traverse 66 is displayed as the stereoscopic TV cameras 67b and 67c, but this does not mean that there are two sets of stereoscopic TV cameras.

As described above, there is a case where the direction in which the TV camera captures is changed and used. FIG. 14 is a view showing the motion function of the camera platform and traverse mechanism of the embodiment.

In FIG. 14, the line-of-sight direction of the stereoscopic TV camera 67 can be changed by a pan 64, a tilt 65, and a traverse 66. In this case, the driving method of the pan 64, the tilt 65, and the traverse 66 is not limited, but each has a position detection sensor (not shown).

FIG. 15 is a control block diagram of the camera platform and traverse of the embodiment. In FIG. 15, a head and a traverse control unit 8 are used as main control units in the controller 15.
6, an arm control unit 87, a convergence angle and a camera interval control unit 88.

In the traverse control circuit having such a configuration, the position of the tilt is detected by the tilt position sensor 71, and is input to the controller 15 as the tilt position signal 77, and the tilt position is specified. The pan motor drive command 82 is input to the pan motor driver 75 to generate a pan motor current 81 to drive the pan motor 69. The pan position is detected by the pan position sensor 72 and input to the controller 15 as a pan position signal 80, and the pan position is specified.

A traverse motor drive command 85 is input to the traverse motor driver 76 to generate a traverse motor current 84 to drive the traverse motor 70. The position of the traverse is detected by a traverse position sensor 73, and is output as a traverse position signal 83 to the controller 15.
And the traverse position is specified.

Further, the observation range of the stereoscopic TV camera 67 can be specified from the positions of the camera platform and the traverse. Therefore, even when the distance to the target object changes when the camera platform or the traverse is moved, it is possible to specify the location where the object is located.

On the other hand, as shown in FIG. 16, the stereoscopic TV camera 67 is mounted on a pan 64, a tilt 65, and a traverse 66, and looks at an end effector contact point 45 of the arm 4. Then, the measurement may be performed by bringing the end effector contact point 45 into contact with the object 10 as described with reference to FIG.

Next, the manner in which the object is captured and the object distance changes when the camera platform is moved will be described with reference to FIG. Here, a case where the tilt 65 is driven will be described for simplicity.

In FIG. 17, when the stereoscopic TV camera 67d captures the object 10 and then rotates the tilt 65 to move it to the stereoscopic TV camera 67e, the lens has an angle of view of 8
9, the object 10 is captured at the position shown in the figure at the position of the stereoscopic TV camera 67d, and the screen is 90a.
And the object distance is 13f.

However, at the position of the stereoscopic TV camera 67e, the screen is 90b, the object distance is 13g, and the object distance is different. Therefore, the target object distance of 13 g is an appropriate target distance in order to regard the target object as a three-dimensional image.

In FIG. 17, generally, when a TV camera captures an object, distance measurement data is required to specify the coordinates of the object. In addition, there is a case where an object cannot always be specified due to a problem of contrast.

However, according to the fourth embodiment, the coordinates of the object 10 are determined based on the position information of the arm 4 as described above. The coordinates of the object 10 are specified. Therefore, the solid T
Based on the position of the V camera 67, that is, the position of the camera platform, the position of the traverse, and the position of the arm, the position of the object 10 on the screen is specified, and the object when the tilt is moved as shown in FIG. What is necessary is just to calculate the distance 10g.

FIG. 18 shows a fifth embodiment of the stereoscopic video apparatus according to the present invention.
FIG. 2 is a configuration diagram showing an embodiment. In FIG. 18, the electric pole is composed of two arms 4 attached to the tip of a turnable and extendable boom 92 mounted on a movable vehicle 91, a head and a three-dimensional TV camera 67 having a traverse mechanism. This is a system for performing 93 works.

FIG. 19 shows a motor function diagram according to the fifth embodiment. In FIG. 19, a boom 92 mounted on a vehicle 91 has a turning 95, an up-and-down
And a horizontal holding unit 99 for keeping the working base 100 mounted on the upper part of the head 98 horizontal.

The working base 100 has a slide shaft 9
An arm 4 is provided via the arm 4. Only one arm is described for simplicity. Working base 100
Is equipped with traverse 66, pan 64 and tilt 95,
A stereoscopic TV camera 67 is installed at the tip of the pan 64.

The position of the electric pole 93 is shifted depending on the stop position of the vehicle 91. By specifying the position of the telephone pole to be viewed at the end effector contact point 45, the positional relationship is specified.

The end effector contact point 45 may be any part of the arm 4 as long as its position can be specified. In addition,
The present invention is not limited to the above-described first to fifth embodiments, and it goes without saying that various modifications can be made without departing from the scope of the invention.

[0083]

According to the stereoscopic video apparatus of the present invention described above, it is possible to control the convergence angle and the camera interval of the stereoscopic TV camera irrespective of the distance measurement data obtained from the autofocus function of the camera or the lens. It is possible to provide a stereoscopic image that is easy for the operator to see.

Further, even when the stereoscopic TV camera is mounted on the camera platform and the traverse mechanism and moved, the position of the object can be specified, and a stereoscopic image which is easy for the operator to see can be provided. Further, even when mounted on a vehicle and installed at the end of a boom, an object whose positional relationship is unspecified can be captured by a stereoscopic TV camera, and a stereoscopic image that is easy for an operator to see can be provided.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a first embodiment of a stereoscopic video apparatus according to the present invention.

FIG. 2 is a control block diagram of a video system in the embodiment.

FIG. 3 is a control block diagram according to the embodiment.

FIG. 4 is a view for explaining a method of calculating an object distance in the embodiment.

FIG. 5 is a teaching flow chart of an object distance and a convergence angle in the embodiment.

FIG. 6 is a diagram showing a relationship between an object distance and a convergence angle in the embodiment.

FIG. 7 is an explanatory diagram of a convergence angle in the embodiment.

FIG. 8 is a diagram illustrating how the target object looks in the embodiment.

FIG. 9 is an exemplary view for explaining how to use the embodiment;

FIG. 10 is a configuration diagram showing a second embodiment of the present invention.

FIG. 11 is a diagram for explaining a camera interval in the embodiment.

FIG. 12 shows a stereoscopic TV according to the third embodiment of the present invention.
FIG.

FIG. 13 shows a stereoscopic TV according to the fourth embodiment of the present invention.
FIG. 3 is a configuration diagram when a camera is mounted on a head and traverse mechanism.

FIG. 14 is an explanatory diagram of functions of a camera platform and a traverse mechanism in the embodiment.

FIG. 15 is a control block diagram of a camera platform and a traverse according to the embodiment.

FIG. 16 is a diagram showing a state where the stereoscopic TV camera according to the embodiment is mounted on pan, tilt, and traverse.

FIG. 17 is an exemplary view for explaining how to look at an angle of view in the embodiment.

FIG. 18 is a perspective view showing a fifth embodiment of the present invention.

FIG. 19 is a motor function diagram in the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Base 2 ... Support 3 ... Support 4 ... Arm 5a, 5b ... Camera, 6a, 6b ... Lens 8 ... Convergence angle drive pan head 9 ... Hand 10 ... Target object 11 ... Vergence angle 12 Focus 13 Distance between objects from lens 14a, 14b Focal length 15 Controller 16 Stereoscopic image control device 17 Stereoscopic monitor

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Kumiko Suzuki, Inventor 2-4, Suehirocho, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture Inside Toshiba Keihin Works

Claims (7)

[Claims] 1. A position provided with two TV cameras and a mechanism for controlling a convergence angle in a line-of-sight direction of the two TV cameras, and at a position where the positional relationship with the two TV cameras is clear. In a three-dimensional image apparatus including an arm having a detector, a position calculating unit that calculates a position of an end effector contact point of the arm based on a signal from the position detector, and a position signal obtained by the position calculating unit. Object position detecting means for detecting the position of the object when the contact point of the end effector of the arm is aligned with the object; an object detected by the object position detecting means and an object up to two TV cameras Calculation means for calculating the object distance, and performing the measurement work of the association between the object distance and the convergence angle twice or more by matching the convergence angle suitable for the object distance calculated by the calculation means, A convergence angle determining means for determining a convergence angle from the function, and a convergence angle motor of the TV camera based on the convergence angle determined by the convergence angle determining means. A stereoscopic video device comprising: a control unit. 2. A position which has two TV cameras and a mechanism for controlling a convergence angle of a line of sight of the two TV cameras, and is installed at a position where the positional relationship with the two TV cameras is clear. In a three-dimensional image apparatus including an arm having a detector, a position calculating unit that calculates a position of an end effector contact point of the arm based on a signal from the position detector, and a position signal obtained by the position calculating unit. Object position detecting means for detecting the position of the object when the contact point of the end effector of the arm is aligned with the object; an object detected by the object position detecting means and an object up to two TV cameras The calculating means for calculating the object distance and the camera interval suitable for the object distance determined by the calculating means are combined to perform the measurement work of associating the object distance with the camera interval at least twice. The relationship between the object distance and the camera interval is expressed as a function, and the camera interval determining means for determining the camera interval from the function, and the TV camera driving motor based on the camera interval determined by the camera interval determining means. A stereoscopic video device comprising: a control unit. 3. A mechanism for controlling two TV cameras, a convergence angle in a line-of-sight direction of the two TV cameras, a mechanism for controlling an interval between the two TV cameras, and a position of the two TV cameras. In a stereoscopic video apparatus including an arm having a position detector installed at a position where the relationship is clear, position calculation means for calculating a position of an end effector contact point of the arm based on a signal from the position detector, and the position Object position detecting means for detecting the position of the object when the end effector contact point of the arm is aligned with the object from the position signal obtained by the calculating means, and an object detected by the object position detecting means Calculating means for calculating an object distance between the object and the two TV cameras; matching a convergence angle suitable for the object distance obtained by the calculating means; The measurement of the relation between the object distance and the convergence angle and the measurement of the relation between the object distance and the camera distance are performed twice or more, and the relation between the object distance and the convergence angle is expressed as a function. Expressing the relationship between the object distance and the camera interval as a function, a convergence angle and a camera interval determining means for determining a convergence angle and a camera interval from the function, and a convergence angle and a camera determined by the convergence angle and the camera interval determining means Means for controlling the convergence angle motor of the TV camera based on the interval and controlling the TV camera drive motor. 4. The two TV cameras have a function of changing a posture and a position, and are mounted on a camera platform and a traverse mechanism having a sensor for detecting the posture and the position, and capture a distance to an object. After capturing the TV camera's line of sight,
2. The stereoscopic video apparatus according to claim 1, wherein an object distance when variable by driving the traverse is obtained, and a convergence angle for providing a stereoscopic image that is easy for the operator to see is controlled based on the object distance. 5. The two TV cameras have a function of changing a posture and a position, and are mounted on a platform and a traverse mechanism having a sensor for detecting the posture and the position, and capture a distance to an object. After capturing the TV camera's line of sight,
3. The stereoscopic video apparatus according to claim 2, wherein an object distance at the time of changing by driving the traverse is obtained, and a camera interval for providing an easy-to-view stereoscopic image to an operator is controlled based on the object distance. 6. The two TV cameras have a function of changing a posture and a position, and are mounted on a head and a traverse mechanism having a sensor for detecting the posture and the position, and capture a distance to an object. After capturing the TV camera's line of sight,
The three-dimensional object according to claim 3, wherein an object distance when variable by driving the traverse is obtained, and based on the object distance, a convergence angle and a camera interval for providing a stereoscopic image that is easy for the operator to see are controlled. Video equipment. 7. The stereoscopic video apparatus according to claim 1, wherein the stereoscopic video apparatus is mounted on a vehicle whose positional relationship with an object is unspecified.